Method and a set of means for piloting an aircraft

ABSTRACT

The present disclosure relates to a method and a set of means for piloting an aircraft used, first of all, for detecting emergency situations and for removing the consequences thereof, which make it possible perform all possible control modes for piloting the same aircraft in the form of an aircraft hand-flown by a pilot with the aid of flight control means, an aircraft remotely flown by instructions of a control station technical means and an independent automated aircraft flown by instructions of the aircraft equipment. In order to carry out the remote, automatic and independent control of the aircraft, the power drive units of control equipment, a system for the switch-on and off thereof and technical supporting means are provided on the aircraft board and on the control station.

BACKGROUND

The present disclosure relates to means for piloting an aircrafts,designed first of all to detect emergency situations caused by naturalor anthropogenic reasons and mitigation of consequences thereof. Meansfor monitoring and control as well as means for elimination of emergencysituations (e.g. water for firefighting) are used as a payload of suchaircraft.

The present disclosure is particularly actual when using aircrafts fortimely detection of emergency situations and arranging actions aimed atelimination of consequences for the purpose of saving peoples' lives andhealth, decreasing damage to property and preventing contamination ofthe environment.

TECHNICAL ART

There is a known method and complex of standard means for driving thefirefighting plane designed to detect the seat of fire and pour outwater over it according to the U.S. Pat. No. 5,878,819.

There is a known method and complex of standard means for driving thefirefighting hydroplane capable of filling water from the surface ofwater body and pour it out over the seat of fire according to the Patentof Russia No. 2,174,934.

The analogue of the disclosure is a complex of means for operatingunmanned aircrafts designed for detecting and eliminating emergencysituation caused by fire as per U.S. Pat. No. 6,364,026.

It includes unmanned monitoring aircraft, unmanned firefightingaircrafts and a ground remote piloting station with a human operator.

A forerunner to the present disclosure according to the number andcontent of similar features is an aircraft control system as per U.S.Pat. No. 5,240,207, in which standard means for aircraft control areconverted into means for remote piloting through an on-ground pilotingstation, which transformed a manned plane into unmanned aircraft.

The prototype system includes an aircraft with platforms installed inits cabin, which are connected by power cables to the control equipmentdesigned to control the aircraft, a first video camera to record theimage of the information and control field of the cabin, second videocamera to record the image outside the cabin and a combined radioequipment to connect to the control station.

The aircraft control station is equipped with the aircraft controlequipment support hardware, adapted to receive and display video imagefrom the first and the second cameras as well as to produce and transmitthe aircraft remote control commands.

In the mentioned prototype the image of the information and controlfield of the aircraft cabin, received from the first video camera andinformation on conditions of the surrounding airspace and the ground,received from the second video camera, are transmitted to the controlstation and displayed on the monitor. The control station operatoranalyses this information, chooses and executes the control commands,which are further transmitted aboard the aircraft and activate the powerdrives of the controlling equipment to make the aircraft perform therequired actions. This control process repeats iteratively during theflight of the aircraft.

The aircraft control system as per U.S. Pat. No. 5,240,207 has only onemode implemented: remote piloting by the control station operator.Automatic control of the aircraft is not provided. Accomplishing pilotedflight mode requires the construction of the aircraft to be restoredback to the initial state, i.e. dismantling all additional controlfacilities. This makes piloting this aircraft impossible.

Such way of piloting the aircraft might be quite limited or unacceptableat all in the conditions of poor visibility, due to smoke, fog orcloudiness.

SUMMARY

The present disclosure, according to some embodiments, solves theproblem of piloting the aircraft in all possible piloting modes: whenpiloted by pilot with the use of standard control facilities, whenpiloted remotely by the control station operator, in automatic mode uponcommands from technical facilities of the control station and infree-running automatic mode upon commands of the on-boardradio-electronic equipment of the aircraft.

In order to allow remote, automatic and free-running automatic pilotingof the aircraft, the power drives of the controlling equipment areinstalled, turn on and shut down systems are implemented as well ashardware and software means for support onboard the aircraft and at thecontrol station. Any of the piloting modes can be turned on or offrepeatedly during a single flight by the pilot, or remotely by thecontrol station operator, or automatically without any structuralalterations of the aircraft and without damage to its further operationin other piloting modes.

The disclosed complex (a set of means) includes:

-   -   aircraft with a cabin which contains piloting equipment for        controlling operation of the aircraft;    -   platforms installed in the cabin of the aircraft near the        control equipment intended for piloting the aircraft;    -   power drives connected to the piloting equipment and to the        platforms with a movable joint;    -   power drive control system;    -   control station removed from the aircraft, which includes        technical means for support of control equipment onboard the        aircraft, adapted to receive and process instrumental readings,        sensors and conditions of the controlling equipment of the        aircraft as well as to generate and transmit aircraft control        signals;    -   means for generating signals describing instrumental readings,        sensors and condition of the control equipment of the aircraft,        installed onboard the aircraft;    -   transmitting and receiving radio-electronic equipment installed        onboard the aircraft designed for transmitting signals        describing instrumental readings, sensors and conditions of the        control equipment of the aircraft to the control station, as        well as receiving control commands from the station;    -   means for receiving and processing signals related to        instrumental readings, sensors and conditions of control        equipment of the aircraft at the control station using receiving        and transmitting equipment;    -   means for generating aircraft control signals at the control        station;    -   means for multiple transmission of aircraft piloting signals        generated at the control station, to the power drive control        system onboard the aircraft in such a way that deviation and        orientation of the piloting equipment onboard the aircraft        corresponds to the commands of control station support hardware        to allow the aircraft performing the required operations.

The disclosed complex (a set of means) additionally contains:

-   -   controlled means for connecting power drives to the control        equipment of the aircraft;    -   means for turning on and turning off the controlled means for        connecting the power drives to the control equipment of the        aircraft with the possibility to be activated by the pilot in        the piloted mode, or operator at the control station remotely        and automatically with the use of technical equipment located        aboard the aircraft and at the control station;    -   an on-board computer to implement the remote piloting mode,        automatic and off-line automatic modes of piloting the aircraft;    -   interface signal and command input/output device installed        onboard the aircraft between the computer and the sensors,        devices and power drives control system;    -   satellite radio navigation system equipment installed onboard        the aircraft for precise positioning of the aircraft;    -   navigation and landing system equipment installed at the control        station.

The disclosed complex of means for piloting the aircraft may have thecontrolled means for joining power drives with the control equipment ofthe aircraft implemented in the form of mechanical devices, particularlyin the form of clutches.

The disclosed complex of means for piloting the aircraft may have acontrol station installed on a stationary or mobile platform.

The disclosed complex of means for piloting the aircraft may have acontrol station installed on a marine stationary or mobile platform.

The disclosed complex of means for piloting the aircraft may have acontrol station installed on a stationary or mobile aerial platform.

The disclosed complex of means for piloting the aircraft may have acontrol station installed on a space platform.

BRIEF DESCRIPTION OF THE DRAWINGS

Hereinafter the present disclosures shall be illustrated by particularexamples of implementation with references to the attached drawingswhich include:

FIG. 1—Block diagram of board equipment of the aircraft.

FIG. 2—Control station block diagram.

DETAILED DESCRIPTION

When in manned aircraft piloting mode involving pilot (1) (FIG. 1), thecontrolled joints (2) with the help of activators and deactivators (3),disconnect the power drives from the control equipment (5). The pilot(1) directly operates the control equipment (5) using standard devices,sensors and equipment (6). The pilot (1) can independently control thepayload (7) and transmit the data received with the help of it to thecontrol station using means for radio communication (8). Payload (7) canbe controlled by the operator and hardware of control station usingmeans for radio communication (8).

When the aircraft is controlled by the control station operator inremote piloting mode, the controlled joints (2) connect to the controlequipment (5) to the power drives (4) with the help of activators anddeactivators (3) (FIG. 1). The control commands from the control stationoperator arrive via the means for radio communication (8) to the powerdrives control system (9) activating the control equipment (5) throughpower drives (4) and controlled joints (2) to allow the aircraft toperform the required actions. The onboard computer 10 processes datarelated to standard equipment, sensors and equipment (6) receivedthrough command and signals input/output interface device (11) as wellas signals received directly from the receiver of the satellite radionavigation system (12), which are further transmitted via means forradio communication (8). Information related to precise coordinates ofthe aircraft location, received at the control station, informationrelated to the spatial location and motion characteristics as well asdata related to instrumental readings, sensors and condition of theonboard equipment is analyzed by the operator for repeated generationand transmission of the required control commands to the aircraft. Thepayload (7) is controlled by the control station operator.

When in automatic aircraft piloting mode, the controlled joints (2)connect power drives (4) to the control equipment (5) (FIG. 1) usingactivators and deactivators (3) upon commands of control stationhardware. The control commands from the control station hardware arereceived via the means for radio communication (8) to the power drivescontrol system (9) activating the control equipment (5) through powerdrives (4) and controlled joints (2) to allow the aircraft to performthe required actions. In order to generate the control commands, thehardware of the control station uses data related to location, positionand motion of the aircraft as well as conditions of its equipment,received in the way similar to the case of remote control. The payload(7) is controlled by the control station operator or by the aircrafthardware according to the program entered before or during the flight.

When in free-running remote aircraft piloting mode, the controlledjoints (2) connect the power drives (4) to the control equipment (5)(FIG. 1) upon commands of the onboard radio-electronic equipment usingactivators and deactivators (3). The control commands are generated bythe onboard computer (10) according to the entered flight program. Theyare further transmitted to the power drives control system (9) through acommands and signals input/output interface device (11), activating thecontrol equipment (5) by power drives (4) and controlled joints (2) toallow the aircraft perform the required operations. Readings of standarddevices, sensors and equipment (6) received via the input/outputinterface device (11) as well as signals of the satellite radionavigation system receiver (12), arriving directly to the onboardcomputer (10), are used as source data for generating control commandsof the onboard computer (10). They allow the onboard computer (10) todetermine the coordinates of precise location of the aircraft, itsspatial position, dynamic characteristics and condition of theequipment. In case if this information differs from the flight taskentered into onboard computer (10), the appropriate commands ofcorrection of position and aircraft movement are generated. The payloadis controlled by the control station operator or by the aircrafthardware according to the program entered before or during the flight.

The aircraft control modes can be repeatedly changed by effecting theactivators and deactivators (3) of the controlled joints (2) of theoperator (1), by the control command of the control station operatorreceived via means for radio communication (8) and the control commandsof the onboard computer (10) received through the input/output interfacedevice (11).

The control station includes the aircraft operator's workplace (13)(FIG. 2), payload operator's workplace (14), computer system (15),visualization tools (16), means for data receipt and transmission (17),landing and navigation system equipment (18), airfield communication andintercom systems (19) and supply system (20).

When in manned mode the aircraft operator of the control station doesnot directly take part in the piloting. He can control the readings ofthe standard onboard devices, sensors and equipment transmitted to themeans for data receipt and transmission (17), processed by the computersystem (15) and displayed on the monitors of the aircraft operator'sworkspace (13) and visualization tools (16) (FIG. 2). The aircraftcontrol station can issue a command to switch to remote manned mode,automatic mode or free-running automatic mode. The payload operator cancontrol the means for payload installed onboard of the aircraft from hisworkplace 14 via computer system 15 and data receiving and transmittingsystem 17. He can receive and analyze information from the payload viathe same data exchange channel, which is displayed on the monitors ofthe payload operator's workplace 14 and visualization tools 16.

When in remote piloting mode the control station aircraft operatorreceives all the necessary information related to readings of theonboard standard instruments, sensors and equipment, precise coordinatesof the aircraft location, its spatial position and dynamiccharacteristics, to the monitors of his workplace 13. Based on theanalysis of this data and according to the flight task he issuesappropriate piloting commands which are processed by the computer system(15) and transmitted onboard the aircraft using data exchange facilities(17). The payload operator issues payload control commands from hisworkplace (14) via the computer system (15) and using means for dataexchange (17), and receives and analyzes the arriving information (FIG.2).

When in automatic aircraft piloting mode, the received data related tothe readings of standard onboard devices, sensors and equipment, preciselocation coordinates and spatial positioning, dynamic characteristics,is constantly processed in the computer system and compared to theflight task data upon commands received from the control stationhardware. In case of any deviations detected, the corresponding controlcommands are issued, which are transmitted onboard the aircraft via dataexchange equipment (17) (FIG. 2). The control station aircraft operatordoes not directly take part in piloting. However, he has a possibilityto control the flight from his workplace (13) and, if needed, changeactive flight task or change the aircraft control mode, e.g. take manualcontrol of the aircraft. Similarly to the previous cases, the payload iscontrolled by the payload operator from his workplace (14) via computersystem (15) and means for data exchange (17). He also receives andanalyzes the information arriving from those (FIG. 2).

When in free-running automatic aircraft piloting mode the aircraftoperator receives all necessary information related to indications ofthe standard onboard devices, sensors and equipment, precise aircraftpositioning coordinates, spatial location and dynamic characteristics onhis workplace (13) upon commands of his radio-electronic equipment. Ifnecessary, he can change the flight task program or aircraft pilotingmode. The payload operator receives information from the payload on hisworkplace (14). They can be operated upon commands from the onboardcomputer of the aircraft as well as upon payload operator's commands.The aircraft is landed in manned mode by the pilot using standardpiloting equipment. When in remote piloting or automatic piloting modes,the approach and landing commands are generated using navigation andlanding equipment (18) at the control station (FIG. 2). They aretransmitted onboard the aircraft and are executed in the same way as theflight control commands.

Airfield communication and intercom systems (19) (FIG. 2) ensure radiocommunication between the aircraft operator, payload operator, aircraftand control station maintenance staff, airfield services and flightdispatcher, as well as the management of the operation aimed atdetection of emergency situations and elimination of consequencesthereof, in which the aircraft is involved.

The power supply system (20) (FIG. 2) provides power to the wholeequipment of the control station involving the airfield power network,offline generator and battery-based UPS units.

INDUSTRIALLY APPLICABLE

The present disclosure is designed for piloting aircrafts used mainlyfor detecting emergency situations and eliminating consequences thereof.Each of the means stipulated by the present disclosure is produced bythe industries of different countries. Interaction of means provided forby the present disclosure is realized in known general-purposeprocesses.

In the “Irkut” Corporation the embodiments of the present disclosure arerealized in the form specific for the Emergency Situations Ministry ofRussia. The aircraft is manufactured on the basis of (5) modifiedtwo-seater motor glider S10-VT (produced by Stemme, Germany) implementedunder the single-beam diagram with a two-piece wing if high aspect ratioand T-shaped tail assembly. A 115 h.p. ROTAX 914 engine is used as apower drive. A tricycle-equipped landing gear with a tail wheel is used.Main landing gears are retracted inside the fuselage.

Piloting in the roll channel is performed by ailerons, track piloting isensured by the yaw rudder located at the fin, longitudinal control isexecuted by the elevators positioned at the tail assembly. Rudders aredeflected by handles and pedals installed inside the cabin, throughdragging poles.

The left seat of the motor glider is used by the pilot for mannedpiloting. Remote and automatic control equipment is installed in thecabin in place of the dismounted right seat. The mentioned equipmentincludes controlled joints, activators and deactivators as well as powerdrives dynamically connected to the control equipment (handles andpedals) and to the platforms, which are implemented in the form of rigidbearing supports of the structure.

Antennas and radio communication facilities are installed on the surfaceof the modified glider.

Standards devices, sensors and equipment of the modified motor gliderinclude flight controls (airspeed indicator, altimeter, magneticcompass) and engine controls (tachometer, pressure and oil temperatureindicator, cylinder head temperature indicator, voltmeter, ammeter, fuelgage and engine life indicator).

To maintain automatic and free-running piloting modes, a compact inertsystem is used as a coordinate sensor, careen, pitch, course, trackangle, vertical velocity, overloads and angular velocities, as well asair signals sensor system as a sensor of meter velocity and relativebarometric altitude.

Hydro-stabilized optoelectronic system and radio location stationsinstalled in suspension containers under the wing of the modified motorglider, are used as payload.

The ground station is made in the in the mobile variant on the basis ofautomobile ZIL 5301 It includes air conditioning system, power supplysystem, workspaces of the operator of the aircraft and payload operator,computer system, visualization tools, navigation and landing systemequipment as well as data exchange facilities, including antenna-feedersystem.

The created aviation complex allows to realize all the possible pilotingmodes with the mentioned motor glider: manned mode with standard meansfor piloting, remote piloting by the control station operator, automaticpiloting upon commands of control station hardware and free-runningautomatic upon commands of the onboard equipment of the aircraft.

This mode and the aircraft piloting complex were described with thereference to the examples of actual implementation, depicted on FIG. 1and FIG. 2. This present disclosure may be implemented in othermodifications and with other supplements, not going beyond the scope andsphere of the claims, which consists in the following.

1. A method for piloting an airborn aircraft in cooperation with aremote control station, wherein the aircraft comprises: aircraftpiloting equipment for controlling operation of the aircraft; powerdrives; controlled joints having a first mode in which the controlledjoints operably connect the aircraft piloting equipment to the powerdrives and a second mode in which the controlled drives disconnect theaircraft piloting equipment from the power drives; activators anddeactivators operable to switch the controlled joints from the firstmode to the second mode and operable to switch the controlled jointsfrom the second mode to the first mode; a power drive control systemoperable to control the power drives; aircraft radio communicationequipment; an on-board computer; a commands and signals input/outputinterface device; a satellite radio navigation system receiver; andinstruments and sensors, and the remote control station comprises:control station radio communication equipment; control station hardware;a navigation and landing system, the method comprising: (a) receivingdata related to devices, sensors, and control equipment through thecommand and signals input/output interface device; (b) receiving signalsdirectly from the satellite radio navigation system (c) processing thedata and signals to produce processed data and signals selected from thegroup consisting of precise coordinates of the aircraft location,spatial location and motion characteristics, instrumental readings,sensors and condition of the onboard equipment, and combinationsthereof; (d) transmitting the processed data and signals through theaircraft radio equipment; in a remote piloting mode: (e) operating theactivators and deactivators to switch the controlled joints to the firstmode; (f) receiving the processed data and signals through controlstation radio communication equipment (e) conveying the processed dataand signals to a control station operator (g) generating control stationoperator commands; (h) transmitting the control station operatorcommands with the control station radio communication equipment; (i)receiving the control station operator commands from the remote controlstation with the aircraft radio communication equipment; (j) conveyingthe control station operator commands from the aircraft radio equipmentto the power drive control system, wherein the power drive controlsystem activates the control equipment in accordance with the controlstation operator commands through power drives and controlled joints;(k) repeating (a), (b), (c), (d), (e), (f), (g), (h), (i) (j) orcombinations thereof; in an automatic aircraft piloting mode: (l)operating the activators and deactivators to switch the controlledjoints to the first mode upon commands of control station hardware; (m)receiving the processed data and signals through control station radiocommunication equipment; (n) conveying the processed data and signals tothe control station hardware; (o) generating control station hardwarecommands using the processed data and signals; (p) transmitting thecontrol station hardware commands with the control station radiocommunication equipment; (q) receiving the control station hardwarecommands from the remote control station with the aircraft radiocommunication equipment; (r) conveying the control station hardwarecommands from the aircraft radio equipment to the power drive controlsystem, wherein the power drive control system activates the controlequipment in accordance with the control station hardware commandsthrough power drives and controlled joints; (s) repeating (a), (b), (c),(d), (l), (m), (n), (o), (p), (q), (r) or combinations thereof; in afree-running automatic aircraft mode: (t) operating the activators anddeactivators to switch the controlled joints to the first mode; (u)generating onboard computer commands using the processed data andsignals; (v) conveying the onboard computer commandsto the power drivecontrol system through the commands and signals input/output interfacedevice, wherein the power drive control system activates the controlequipment in accordance with the onboard computer commands through powerdrives and controlled joints; (w) repeating (a), (b), (c), (d), (t),(u), (v) or combinations thereof; and in the remote piloting mode or theautomatic aircraft piloting mode: (x) optionally landing the aircraftcomprising: (i) generating landing commands through the navigation andlanding system; (ii) transmitting the landing commands with the controlstation radio communication equipment; (iii) receiving the landingcommands from the remote control station with the aircraft radiocommunication equipment; (iv) conveying the landing commands from theaircraft radio equipment to the power drive control system, wherein thepower drive control system activates the control equipment in accordancewith the control station hardware commands through power drives andcontrolled joints, wherein the aircraft is landed.
 2. A method forpiloting an airborn aircraft in cooperation with a remote controlstation according to claim 1, wherein the controlled joints compriseelectronic clutches.
 3. A method for piloting an airborn aircraft incooperation with a remote control station according to claim 1, whereinthe remote control station further comprises a stationary terrestrialplatform or a mobile terrestrial platform.
 4. A method for piloting anairborn aircraft in cooperation with a remote control station accordingto claim 1, wherein the remote control station further comprises astationary marine platform or a mobile marine platform.
 5. A method forpiloting an airborn aircraft in cooperation with a remote controlstation according to claim 1, wherein the remote control station furthercomprises a stationary aerial platform or a mobile aerial platform.
 6. Amethod for piloting an airborn aircraft in cooperation with a remotecontrol station according to claim 1, wherein the remote control stationfurther comprises a space platform.
 7. A method for piloting an airbornaircraft in cooperation with a remote control station according to claim1 further comprising generating a command to switch between the pilotingmodes through the on-board computer or through the control stationhardware.
 8. A method for piloting an airborn aircraft in cooperationwith a remote control station according to claim 1 further comprising:in a manned mode: (y) operating the activators and deactivators toswitch the controlled joints to the second mode; (z) generating onboardoperator commands; (aa) conveying the onboard operator commandsto thecontrol equipment; and (bb) repeating (a), (b), (c), (d), (y), (z), (aa)or combinations thereof.